J. Alvarezgallegos et al., A STABLE CONTROL SCHEME FOR TELEOPERATORS WITH TIME-DELAY, International journal of robotics & automation, 12(3), 1997, pp. 73-79
This article presents an alternative control scheme for teleoperators
with time delay. The conditions for assuring asymptotic stability of t
he teleoperator system, with the control scheme proposed, are given. S
ome simulation results illustrate the performance of the teleoperator
with the proposed control law.